基于触滑觉感知的智能假肢抓握控制方法研究  

Research on the Control Method of Intelligent Prosthetic Grips Based on Touch-slip Sensing

作　　者：刘畅[1] 张小栋[1,2] 李瀚哲 郭健[1,2] 

机构地区：[1]西安交通大学机械工程学院,西安710049 [2]西安交通大学现代设计与轴承转子系统教育部重点实验室,西安710049

出　　处：《计算机测量与控制》2016年第12期85-88,92,共5页Computer Measurement &Control

基　　金：国家自然科学基金资助项目(51275388)

摘　　要：触觉和滑觉感知功能是仿生假手不可或缺的感知功能;在原有智能假肢的基础上,通过对触滑觉感知方法的研究,包括触滑觉传感器的选型、后续测量电路的设计和测点布局分析等,开发了一种可以同时实现触觉和滑觉感知的智能假肢;进而,通过模糊逻辑控制方法的引入,实现了假肢的可靠抓握功能及抓握保持过程中的自适应响应控制;实验结果表明,该智能假肢可以实现假肢抓握的稳定控制,并在被抓握物体产生滑动时进行精准快速的自适应响应控制。Perception of tactile and slide sensing is an essential function for bionic prosthetic hand. On the basis of original intelligent prostheses, this paper designed an intelligent prosthesis that achieving tactile sensing and slide sensing through the study of tactile and slide sensing methods, those studies included selection of tactile and slide sensor, design of measuring circuit and analysis of the distribution of measuring points, etc.. Further, it achieved the reliable gripping and the adaptive response controlling during maintaining gripping through introducing the fuzzy logic control method. The results showed that this intelligent prostheses achieved stable control of gripping, and fast and precision adaptive respond control while the object sliding.

关 键 词：触觉传感器 滑觉传感器 模糊控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]